RGB-D image acquisition method
An RGB-D, image acquisition technology, applied in image enhancement, image analysis, image data processing and other directions, can solve the problems of limited application scenarios, poor imaging quality, small ranging range, etc., to achieve high quality, improved quality, practical strong effect
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[0032] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.
[0033] The present invention proposes a method for acquiring RGB-D images in an outdoor environment. First, obtain a depth image and a color image respectively, and then realize the combination of the depth image and the color image based on a pinhole camera model (Pin-hole Camera Model). Registration, such as figure 1 As shown, the method includes:
[0034] Step S1: Calibrate the depth camera to obtain the internal parameter A of the depth camera d , external parameters [R d | T d ], calibrate the color camera, and obtain the internal parameter A of the color camera c , external parameters [R c | T c ], calculate the relative extrinsic parameters of the depth camera in the color camera camera coordinate system [R ...
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